EP3991137A4 - Methods and apparatus for dynamic optical flow sensor calibration by imu in planar robot systems - Google Patents

Methods and apparatus for dynamic optical flow sensor calibration by imu in planar robot systems Download PDF

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Publication number
EP3991137A4
EP3991137A4 EP20833217.1A EP20833217A EP3991137A4 EP 3991137 A4 EP3991137 A4 EP 3991137A4 EP 20833217 A EP20833217 A EP 20833217A EP 3991137 A4 EP3991137 A4 EP 3991137A4
Authority
EP
European Patent Office
Prior art keywords
imu
methods
flow sensor
optical flow
sensor calibration
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20833217.1A
Other languages
German (de)
French (fr)
Other versions
EP3991137A1 (en
Inventor
Zhanlue Zhao
Yun Li
Bryan A. Cook
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ceva Technologies Inc
Original Assignee
Ceva Technologies Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ceva Technologies Inc filed Critical Ceva Technologies Inc
Publication of EP3991137A1 publication Critical patent/EP3991137A1/en
Publication of EP3991137A4 publication Critical patent/EP3991137A4/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/269—Analysis of motion using gradient-based methods
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
EP20833217.1A 2019-06-28 2020-06-26 Methods and apparatus for dynamic optical flow sensor calibration by imu in planar robot systems Pending EP3991137A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201962868260P 2019-06-28 2019-06-28
PCT/US2020/039856 WO2020264320A1 (en) 2019-06-28 2020-06-26 Methods and apparatus for dynamic optical flow sensor calibration by imu in planar robot systems

Publications (2)

Publication Number Publication Date
EP3991137A1 EP3991137A1 (en) 2022-05-04
EP3991137A4 true EP3991137A4 (en) 2023-08-09

Family

ID=74060034

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20833217.1A Pending EP3991137A4 (en) 2019-06-28 2020-06-26 Methods and apparatus for dynamic optical flow sensor calibration by imu in planar robot systems

Country Status (5)

Country Link
US (1) US20220299321A1 (en)
EP (1) EP3991137A4 (en)
JP (1) JP2022538327A (en)
KR (1) KR20220034145A (en)
WO (1) WO2020264320A1 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11756231B2 (en) * 2021-06-29 2023-09-12 Midea Group Co., Ltd. Method and apparatus for scale calibration and optimization of a monocular visual-inertial localization system
CN114347064B (en) * 2022-01-31 2022-09-20 深圳市云鼠科技开发有限公司 Robot collision detection method and device based on optical flow, computer equipment and storage medium
CN114971345B (en) * 2022-06-08 2023-04-18 东南大学 Quality measuring method, equipment and storage medium for built environment

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140104445A1 (en) * 2012-10-12 2014-04-17 Qualcomm Incorporated Gyroscope conditioning and gyro-camera alignment
WO2016187757A1 (en) * 2015-05-23 2016-12-01 SZ DJI Technology Co., Ltd. Sensor fusion using inertial and image sensors

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8494225B2 (en) * 2010-02-19 2013-07-23 Julian L. Center Navigation method and aparatus
US9152915B1 (en) * 2010-08-26 2015-10-06 Brain Corporation Apparatus and methods for encoding vector into pulse-code output
WO2016023224A1 (en) * 2014-08-15 2016-02-18 SZ DJI Technology Co., Ltd. System and method for automatic sensor calibration
US20180075609A1 (en) * 2016-09-12 2018-03-15 DunAn Precision, Inc. Method of Estimating Relative Motion Using a Visual-Inertial Sensor

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140104445A1 (en) * 2012-10-12 2014-04-17 Qualcomm Incorporated Gyroscope conditioning and gyro-camera alignment
WO2016187757A1 (en) * 2015-05-23 2016-12-01 SZ DJI Technology Co., Ltd. Sensor fusion using inertial and image sensors

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
DIAZ J ET AL: "FPGA-BASED REAL-TIME OPTICAL-FLOW SYSTEM", IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY, IEEE, USA, vol. 16, no. 2, 1 February 2006 (2006-02-01), pages 274 - 279, XP001240859, ISSN: 1051-8215, DOI: 10.1109/TCSVT.2005.861947 *
GRABE VOLKER ET AL: "A comparison of scale estimation schemes for a quadrotor UAV based on optical flow and IMU measurements", 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS(ROS), IEEE, 3 November 2013 (2013-11-03), pages 5193 - 5200, XP032537884, ISSN: 2153-0858, [retrieved on 20131227], DOI: 10.1109/IROS.2013.6697107 *
See also references of WO2020264320A1 *

Also Published As

Publication number Publication date
EP3991137A1 (en) 2022-05-04
WO2020264320A1 (en) 2020-12-30
US20220299321A1 (en) 2022-09-22
JP2022538327A (en) 2022-09-01
KR20220034145A (en) 2022-03-17

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